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GUI: Added Multi-Session Localization view. CameraModel: set localTransform to optical rotation in default constructor (fixed matrix invertion errors with code ignoring setting local transform), save/read local transform in/from camera calibration yaml file (so that local transform is also exported when extracting rgb/depth images). Rtabmap: in localization mode, ignore landmarks farther than RGBD/LocalRadius if no global loop closures are already in odometry cache.

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matlabbe
2022-02-12 13:35:23 -05:00
parent f584f42ea4
commit 191e165a28
13 changed files with 612 additions and 24 deletions
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guilib/src/ui/mainWindow.ui
+27
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@@ -1044,6 +1044,33 @@
<addaction name="actionPause"/>
<addaction name="actionStop"/>
</widget>
<widget class="QDockWidget" name="dockWidget_multiSessionLoc">
<property name="windowTitle">
<string>Multi-Session Localization</string>
</property>
<attribute name="dockWidgetArea">
<number>2</number>
</attribute>
<widget class="QWidget" name="layout_multiSessionLoc">
<layout class="QVBoxLayout" name="verticalLayout_12">
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
</layout>
</widget>
</widget>
<action name="actionExit">
<property name="icon">
<iconset resource="../GuiLib.qrc">